def addGyro(serverChannel):
global msg, startingX, startingY
while True:
dataVals = compileData()
# print(dataVals)
x = float(dataVals[0])
y = float(dataVals[1])
yaw = float(dataVals[2])
msg["gyroX"] = x # - startingX
msg["gyroY"] = y #- startingY
msg["yaw"] = yaw - startingYaw
def addGyro(serverChannel): global msg, startingX, startingY while True: dataVals = compileData() # print(dataVals) x = float(dataVals[0]) y = float(dataVals[1]) yaw = float(dataVals[2]) msg["gyroX"] = x # - startingX msg["gyroY"] = y #- startingY msg["yaw"] = yaw - startingYaw
#sets up the ultrasonic sensors
# TRIG = 11 #18
# ECHO = 12 #17
TRIG = 13
ECHO = 7
GPIO.setup(TRIG, GPIO.OUT)
GPIO.output(TRIG, 0)
GPIO.setup(ECHO, GPIO.IN)
#this is the initial starting position of the copter. I implement this
#because the gyroscope doesn't read the rest position as perfectly 0,0
#so this basically can account for any slight error in the gyro readings
startingGyroValues = compileData()
startingX = startingGyroValues[0]
startingY = startingGyroValues[1]
startingYaw = startingGyroValues[2]
print('start', startingX, startingY)
####################################
# Initializing global data structures
####################################
keyInputs = {
"w": False,
"s": False,
"d": False,
"a": False,
"u": False,
#sets up the ultrasonic sensors
# TRIG = 11 #18
# ECHO = 12 #17
TRIG = 13
ECHO = 7
GPIO.setup(TRIG, GPIO.OUT)
GPIO.output(TRIG, 0)
GPIO.setup(ECHO, GPIO.IN)
#this is the initial starting position of the copter. I implement this
#because the gyroscope doesn't read the rest position as perfectly 0,0
#so this basically can account for any slight error in the gyro readings
startingGyroValues = compileData()
startingX = startingGyroValues[0]
startingY = startingGyroValues[1]
startingYaw = startingGyroValues[2]
print('start', startingX, startingY)
####################################
# Initializing global data structures
####################################
keyInputs = {"w": False, "s": False, "d": False, "a": False,
"u":False, "e":False, "r": False, "l": False, "g": True}
msg = {"distance": 0, "ail": 0, "ele": 0, "thr": 0, "rud": 0, "gyroX": 0,
"gyroY": 0, "yaw":0}
